commit 139f59d3f64d550c173128ebc69b7ee03625993a
author Austin Schuh <austin.linux@gmail.com> Sun Mar 17 18:16:13 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Fri Mar 22 20:03:18 2019 -0700
tree ef4b83e01308bcc092e6b81915e9ca481d1b7e4d
parent bb1df6ffd9c456148e72cebf37ee86d9bb250805

Tune elevator setpoints for Comp

Change-Id: I8f40462d0bfea9ce3bba59b168f820cea4cc771c

y2019/joystick_reader.cc

diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index f54511b..30d09a5 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -84,8 +84,8 @@
 
 const ElevatorWristPosition kStowPos{0.36, 0.0};
 
-const ElevatorWristPosition kPanelHPIntakeForwrdPos{0.04, M_PI / 2.0};
-const ElevatorWristPosition kPanelHPIntakeBackwardPos{0.05, -M_PI / 2.0};
+const ElevatorWristPosition kPanelHPIntakeForwrdPos{0.01, M_PI / 2.0};
+const ElevatorWristPosition kPanelHPIntakeBackwardPos{0.015, -M_PI / 2.0};
 
 const ElevatorWristPosition kPanelForwardLowerPos{0.0, M_PI / 2.0};
 const ElevatorWristPosition kPanelBackwardLowerPos{0.0, -M_PI / 2.0};
@@ -99,17 +99,17 @@
 const ElevatorWristPosition kPanelCargoForwardPos{0.0, M_PI / 2.0};
 const ElevatorWristPosition kPanelCargoBackwardPos{0.0, -M_PI / 2.0};
 
-const ElevatorWristPosition kBallForwardLowerPos{0.46, M_PI / 2.0};
-const ElevatorWristPosition kBallBackwardLowerPos{0.15, -M_PI / 2.0};
+const ElevatorWristPosition kBallForwardLowerPos{0.42, M_PI / 2.0};
+const ElevatorWristPosition kBallBackwardLowerPos{0.14, -M_PI / 2.0};
 
 const ElevatorWristPosition kBallForwardMiddlePos{1.16, 1.546};
-const ElevatorWristPosition kBallBackwardMiddlePos{0.876021, -1.546};
+const ElevatorWristPosition kBallBackwardMiddlePos{0.90, -1.546};
 
-const ElevatorWristPosition kBallForwardUpperPos{1.50, 0.961};
-const ElevatorWristPosition kBallBackwardUpperPos{1.41, -1.217};
+const ElevatorWristPosition kBallForwardUpperPos{1.51, 0.961};
+const ElevatorWristPosition kBallBackwardUpperPos{1.44, -1.217};
 
-const ElevatorWristPosition kBallCargoForwardPos{0.699044, 1.353};
-const ElevatorWristPosition kBallCargoBackwardPos{0.828265, -1.999};
+const ElevatorWristPosition kBallCargoForwardPos{0.739044, 1.353};
+const ElevatorWristPosition kBallCargoBackwardPos{0.868265, -1.999};
 
 const ElevatorWristPosition kBallHPIntakeForwardPos{0.55, 1.097};
 const ElevatorWristPosition kBallHPIntakeBackwardPos{0.89, -2.018};